Autonomous Surgical Robot With Camera-Based Markerless Navigation for Oral and Maxillofacial Surgery
| Autor: | Ken Masamune, Kazuaki Hara, Hideyuki Suenaga, Ichiro Sakuma, Qingchuan Ma, Etsuko Kobayashi, Keiichi Nakagawa, Junchen Wang |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
medicine.diagnostic_test Computer science business.industry ComputingMethodologies_IMAGEPROCESSINGANDCOMPUTERVISION Workload Computed tomography 02 engineering and technology Autonomous robot Computer Science Applications surgical procedures operative 020901 industrial engineering & automation Control and Systems Engineering Oral and maxillofacial surgery medicine Robot Statistical analysis Computer vision Artificial intelligence Electrical and Electronic Engineering Autonomous system (mathematics) business Surgical robot |
| Zdroj: | IEEE/ASME Transactions on Mechatronics. 25:1084-1094 |
| ISSN: | 1941-014X 1083-4435 |
| Popis: | The results of oral and maxillofacial surgery (OMS) significantly depend on the individual capabilities of surgeons. In this article, an autonomous surgical robot is proposed to automatically perform surgery according to a preoperative plan with the assistance of a surgeon. A 3-D computed tomography image of the subject's teeth was used to build an offline shape-based model by creating a large amount of 2-D contour data. A monochrome camera was mounted on a self-developed robot to capture the real-time image of the teeth for comparison with the offline 2-D contour to verify the teeth pose without using common markers. The data of the preoperative plan and the teeth pose were integrated to guide the movement of the robot during operation. Drilling experiments were conducted on the five 3D-printed mandible models, and a statistical analysis revealed highly accurate results. This autonomous robot provides a practical solution for robotically conducted OMS and has the potential to significantly reduce the workload of surgeons. |
| Databáze: | OpenAIRE |
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